Optical tomography: Image improvement using mixed projection of parallel and fan beam modes

Mixed parallel and fan beam projection is a technique used to increase the quality images. This research focuses on enhancing the image quality in optical tomography. Image quality can be defined by measuring the Peak Signal to Noise Ratio (PSNR) and Normalized Mean Square Error (NMSE) parameters. The findings of this research prove that by combining parallel and fan beam projection, the image quality can be increased by more than 10%in terms of its PSNR value and more than 100% in terms of its NMSE value compared to a single parallel beam

LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes

Deep neural network (DNN) architectures have been shown to outperform traditional pipelines for object segmentation and pose estimation using RGBD data, but the performance of these DNN pipelines is directly tied to how representative the training data is of the true data. Hence a key requirement for employing these methods in practice is to have a large set of labeled data for your specific robotic manipulation task, a requirement that is not generally satisfied by existing datasets. In this paper we develop a pipeline to rapidly generate high quality RGBD data with pixelwise labels and object poses. We use an RGBD camera to collect video of a scene from multiple viewpoints and leverage existing reconstruction techniques to produce a 3D dense reconstruction. We label the 3D reconstruction using a human assisted ICP-fitting of object meshes. By reprojecting the results of labeling the 3D scene we can produce labels for each RGBD image of the scene. This pipeline enabled us to collect over 1,000,000 labeled object instances in just a few days. We use this dataset to answer questions related to how much training data is required, and of what quality the data must be, to achieve high performance from a DNN architecture

Observation Centric Sensor Data Model

Management of sensor data requires metadata to understand the semantics of observations. While e-science researchers have high demands on metadata, they are selective in entering metadata. The claim in this paper is to focus on the essentials, i.e., the actual observations being described by location, time, owner, instrument, and measurement. The applicability of this approach is demonstrated in two very different case studies